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Conference Paper
A Coarse-to-Fine Approach for Fast Path Finding for Mobile Robots
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- Authors
- Jae Yeong Lee, Won Pil Yu
- Issue Date
- 2009-10
- Citation
- International Conference on Intelligent Robots and Systems (IROS) 2009, pp.5414-5419
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- A simple but effective method for fast path finding for mobile robots in grid-based search space is presented. The paper presents a systematic way to reduce the resolution of a grid map preserving the occupancy structure of the original map. Paths are found in two steps with varying quantization levels of the space in coarse-to-fine manner. The resulting paths are practically optimal and experimental results show a great reduction of the searching time, making it possible to implement a real-time global path planner in a very large environment. © 2009 IEEE.
- KSP Keywords
- Fast Path, Grid Map, Grid-based, Mobile robots, Quantization levels, Real-time, Search Space, coarse-to-fine manner, global path planner, path finding